Abstract
A crane mounted on a tower-like flexible structure called the 'Tower crane' has a problem that a fast transfer of the load causes the sway of the load and the vibration of the flexible structure. Furthermore if the length of the load rope varies, It is difficult to control by the fixed compensator, because the natural frequency of the load rope and gain of the plant to control input vary also. We have already verified the efficiency of the gain-scheduled H_∞ compensator by simulations and experiments only in the up-and-down direction. However, the rotational direction have not be implemented the gain-scheduled control. So, this paper designs the gain-scheduled compensator for both directions and verifies its efficiency by experiments.
